JP2018194638A - Parking support device - Google Patents

Abstract

To provide a parking support device that can support improvement of the parking skills of a driver.SOLUTION: The present invention includes: target parking position setting means for setting the target parking position for parking a vehicle 1; track creation means for creating ideal parking tracks L11 and L12 from the position of the vehicle 1 to the target parking position; detection means for detecting the actual parking tracks L21 to L24 of the vehicle 1; and notification means for issuing a notification based on the actual parking tracks 21 to L24 and the ideal parking tracks L11 and L12.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a parking support device that supports a driver's parking operation.

  2. Description of the Related Art Conventionally, parking assistance devices that support a driver's parking operation have been developed. The parking assist device creates an ideal trajectory from the current position of the vehicle to the target parking position for parking. And a driver | operator's parking operation is supported so that a vehicle may advance the said track | orbit. Patent Document 1 discloses an automatic parking device that performs steering control of a vehicle and guides the vehicle to a target parking position. As a result, the driver can park without operating the steering wheel of the car.

JP-A-5-143895

  However, when the user is used to the automatic parking apparatus, there is a concern that the driver's parking skill may be reduced. As a result, when the driver parks a vehicle that does not include the automatic parking device, that is, when the automatic parking device cannot be used, there is a possibility that parking cannot be performed well.

  The present invention has been conceived under the above-described circumstances, and an object thereof is to provide a parking assistance device capable of assisting a driver in improving his / her parking skill.

  In order to solve the above problems, the present invention takes the following technical means.

  A parking assist device provided by the present invention includes a target parking position setting unit that sets a target parking position for parking a car, and a track that creates an ideal parking path from the position of the vehicle to the target parking position. It is characterized by comprising: creating means; detecting means for detecting an actual parking trajectory of the vehicle; and notifying means for performing notification based on the actual parking trajectory and the ideal parking trajectory.

  According to the present invention, notification based on an actual parking track and an ideal parking track is performed. The driver can recognize his / her parking skill based on the notified information. Therefore, the driver can understand how to drive in order to park along the ideal parking path at the next parking. Thereby, improvement of a driver's parking skill can be supported.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the accompanying drawings.

It is a block diagram which shows the structure of the vehicle to which the parking assistance apparatus which concerns on 1st Embodiment was applied. It is a figure which shows an example of the flowchart for demonstrating the parking assistance process which concerns on 1st Embodiment. It is a flowchart for demonstrating the subroutine of the ideal track | orbit memory | storage process in the parking assistance process which concerns on 1st Embodiment. It is a flowchart for demonstrating the subroutine of the real track memory process in the parking assistance process which concerns on 1st Embodiment. (A) is a figure for demonstrating an example of an ideal track | orbit, (b) is a figure for demonstrating an example of an actual track | orbit. It is a figure which shows an example of the assistance image displayed on the display screen of a display. It is a figure which shows the modification of the assistance image displayed on the display screen of a display. It is a figure which shows an example of the moving image image | video displayed on the display screen of a display. It is a figure which shows the modification of the moving image image | video displayed on the display screen of a display.

  Embodiments of the present invention will be specifically described below with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a vehicle 1 to which a parking assistance device according to the first embodiment is applied. As shown in FIG. 1, the car 1 includes a parking assistance ECU (Electronic Control Unit) 2, a right side camera 31, a left side camera 32, a front camera 33, a rear camera 34, various sensors 4, an operation device 5, a speaker 6, A display 7 and a storage device 8 are provided. Although the car 1 has other configurations, the description is omitted in FIG.

  Each of the right side camera 31, the left side camera 32, the front camera 33, and the rear camera 34 is a photographing device that photographs an image around the car 1, and includes an image sensor such as a CCD or a CMOS, for example, and performs predetermined photographing. The area is photographed at a predetermined frame rate. The right side camera 31 is attached to a right door mirror (for example, the bottom surface thereof), and takes an image of the right side of the vehicle 1 including the right side surface and the road surface of the vehicle 1. The left side camera 32 is attached to a left door mirror (for example, the bottom surface thereof), and takes an image of the left side of the car 1 including the left side and the road surface of the car 1. The front camera 33 is attached near the center of the front portion of the vehicle 1 in the vehicle width direction and captures an image of the front of the vehicle 1 including the front surface of the vehicle 1 and the road surface. The rear camera 34 is attached, for example, near the center of the back door in the vehicle width direction, and captures an image of the rear of the vehicle 1 including the rear surface and the road surface of the vehicle 1. In addition, the attachment position of these cameras 31-34 is not limited. Image data captured by each of the cameras 31 to 34 is output to the parking assist ECU 2.

  Various sensors 4 detect various detection values and output them to the parking assist ECU 2. The various sensors 4 include a steering angle sensor that detects the steering angle of the steering, a vehicle speed sensor that detects the wheel speed of each wheel of the vehicle 1, a brake sensor that detects the operation amount of the brake pedal, and an operation amount of the accelerator pedal. An accelerator sensor, a shift position sensor that detects a shift position that changes in conjunction with the operation of the shift lever, and the like are included. In addition, what was mentioned above is an example and is not limited to these.

  The speaker 6 outputs sound and outputs sound based on the sound signal input from the parking assist ECU 2.

  The display 7 is constituted by an LCD (Liquid Crystal Display), for example, and is installed in the center console portion of the car 1. The display 7 is not limited to the LCD, but may be an organic EL display or a plasma display. Further, the installation position is not limited to the center console portion, and may be in a range that can be seen from the driver. The display 7 displays a bird's-eye view image based on an image signal input from the parking assistance ECU 2 during parking assistance. The display 7 may also be used as a display such as a navigation system. In this case, when an operation signal instructing the start of parking assistance is input from the operation device 5, the navigation screen may be switched to the parking assistance screen (overhead image).

  The operation device 5 is operated by a driver (or a passenger) and outputs an operation signal corresponding to the operation to the parking assist ECU 2. In the present embodiment, the controller device 5 is a touch panel arranged on the screen of the display 7. When a button or the like displayed on the screen of the display 7 is operated with a fingertip, the touch panel reads the touch position and outputs a corresponding operation signal. The operation device 5 is not limited to this, and may be an input device such as an operation button or a joystick. A driver (or a passenger) can instruct the parking assistance ECU 2 to start parking assistance or designate a target parking position by operating the operation device 5.

  The storage device 8 stores various information for performing parking assistance. The storage device 8 is a secondary storage device such as a hard disk drive (HDD) or a flash memory. The storage device 8 may be a main storage device such as a RAM (Random Access Memory).

  The parking assistance ECU 2 is an electronic control unit for performing parking assistance, and is realized by a microcomputer including a CPU and a memory. The parking assistance ECU 2 performs control for parking assistance based on the image data input from the cameras 31 to 34, the signals input from the various sensors 4, and the operation signals input from the operation device 5. . In this embodiment, parking assistance ECU2 performs notification based on an ideal parking track and an actual parking track as parking assistance. The ideal parking trajectory is the trajectory of the vehicle 1 from the time when parking assistance is started to the target parking position. Hereinafter, an ideal parking track is referred to as an “ideal track”. The actual parking trajectory is the trajectory of the car 1 from the time when parking is started to the time when parking is completed. Hereinafter, the actual parking trajectory is referred to as an “real trajectory”. The parking assistance ECU 2 corresponds to the “parking assistance device” of the present invention.

  The parking assist ECU 2 includes, as functional blocks, an overhead image creation unit 21, a parking frame detection unit 22, a target parking position setting unit 23, a track creation unit 24, a host vehicle position estimation unit 25, an actual track storage unit 26, a comparison unit 27, Also, an image / audio control unit 28 is provided.

  The overhead image creation unit 21 creates an overhead image. The bird's-eye view image creation unit 21 creates a bird's-eye view image displayed as if looked down from a virtual viewpoint above the car 1 by predetermined image processing from image data input from the cameras 31 to 34.

  The parking frame detection unit 22 detects a parking frame from the overhead image created by the overhead image creation unit 21. The parking frame detection unit 22 detects, for example, a white line, and detects a rectangular area formed by the white line as a parking frame. The method for detecting the parking frame is not limited. The parking frame may be detected by image recognition processing such as pattern matching. The line forming the parking frame is not limited to the white line, and may be a yellow line or another color line, or may be a broken line. Further, the parking frame is not limited to being formed in a rectangular shape, but may be formed in a parallelogram shape, or may be formed of only two parallel lines. In these cases, it is desirable that the parking frame can be detected.

  The target parking position setting unit 23 sets a target parking position. The target parking position setting unit 23 selects a parking frame for parking the vehicle 1 from the parking frames detected by the parking frame detection unit 22, and sets the position of the selected parking frame as the target parking position. A parking frame for parking the car 1 is automatically selected according to a predetermined algorithm from the parking frames detected by the parking frame detection unit 22. In addition, all the parking frames detected by the parking frame detection unit 22 may be displayed on the display 7 (or selected to some extent), and the driver may select them by operating the operation device 5. Further, the parking frame may be set on the overhead image by the driver operating the operation device 5 without performing the detection and display of the parking frame by the parking frame detection unit 22.

  The track creation unit 24 creates an ideal track for parking at the target parking position set by the target parking position setting unit 23 from the current position of the car 1. The method for creating the ideal trajectory is not limited. The trajectory creation unit 24 stores the created ideal trajectory in the storage device 8.

  The own vehicle position estimation unit 25 estimates the current position of the vehicle 1. The own vehicle position estimation unit 25 estimates the current position of the vehicle 1 from detection signals sequentially input from the various sensors 4 with reference to the position of the vehicle 1 when parking assistance is started. Hereinafter, the estimated current position of the vehicle 1 is described as “estimated position”.

  The actual trajectory storage unit 26 stores an actual trajectory from when parking is started until parking is completed. Specifically, the actual track storage unit 26 stores the estimated position in the storage device 8 every time the own vehicle position estimation unit 25 estimates the estimated position from the time when parking is started to the time when parking is completed. To do. As a result, the storage device 8 stores a plurality of estimated positions in chronological order. The trajectory represented by the plurality of estimated positions is an actual trajectory. Accordingly, the actual trajectory is stored in the storage device 8. In the present embodiment, the vehicle position estimation unit 25 and the actual track storage unit 26 correspond to the “detection means” of the present invention.

  The comparison unit 27 compares the ideal trajectory stored in the storage device 8 with the actual trajectory. Then, as a comparison result, the difference between the ideal trajectory and the actual trajectory is output to the image / sound controller 28.

  The image / sound control unit 28 performs notification for parking assistance. Specifically, the audio / video control unit 28 creates an image for parking assistance, displays the image on the display 7, and causes the speaker 6 to output an audio for parking assistance. In the present embodiment, the audio / video control unit 28 creates an image (hereinafter referred to as “support image”) in which the ideal trajectory and the actual trajectory are superimposed on the overhead view image at the start of parking support, and the display 7 To display. In the present embodiment, it is assumed that the support image is a still image. Further, the audio / video control unit 28 displays the difference between the ideal trajectory and the actual trajectory and advice for eliminating the difference on the display 7 based on the comparison result (difference information) of the comparison unit 27 and the speaker. 6 is voice-guided. Note that the image displayed by the image / audio control unit 28 on the display 7 and the sound output by the speaker 6 are not limited. The image / audio control unit 28 corresponds to the “notification unit” of the present invention.

  Next, parking support processing performed by the parking support ECU 2 will be described below with reference to the flowcharts shown in FIGS.

  FIG. 2 is a flowchart illustrating an example of the parking support process. The parking support process is executed, for example, when an operation signal instructing the start of parking support is input from the operation device 5. In addition, you may make it perform, when there exists operation | movement which shows the intention to park, such as when the R range (backward range) is selected by shift operation.

  First, the position of the car 1 at the start of parking assistance (hereinafter referred to as “start position”) is set (S1). In the following processing, each position is represented by coordinates with the start position as a reference (origin).

  Next, ideal trajectory storage processing for creating and storing an ideal trajectory from the start position to the target parking position is performed (S2). FIG. 3 is a flowchart showing an example of the ideal orbit storage process subroutine. In the ideal trajectory storage processing, first, image data is input from each of the cameras 31 to 34 (S21), and the overhead image creation unit 21 creates an overhead image at the start position (S22). The overhead image created at the start position is stored in the storage device 8 by the overhead image creation unit 21. Next, a target parking position is set (S23). Specifically, the parking frame detection unit 22 detects a parking frame from the overhead image, and the target parking position setting unit 23 sets the position of the parking frame selected from the detected parking frames as the target parking position. Information on the target parking position and direction (position and direction based on the start position) is stored. Then, an ideal trajectory is created by the trajectory creation unit 24 (S24). The created ideal trajectory is stored in the storage device 8 by the trajectory creation unit 24 (S25). Thus, the ideal trajectory storage process is completed.

  FIG. 5A is a diagram for explaining an ideal trajectory created by the trajectory creation unit 24. That is, FIG. 5A is a diagram for explaining the ideal trajectory stored in the storage device 8 by the ideal trajectory storage process. In FIG. 5A, the description will be made assuming that the parking assist process is started when the vehicle 1 is located at the point Ps. The point Ps is, for example, the center position of the car 1 (the same applies to the points P11 and Pg1). The start process of the parking assistance process is executed at the point Ps, and the point Ps is set as the start position. Then, it is assumed that the position indicated by the point Pg1 from the detected parking frame is set as the target parking position. When parking from the start position Ps to the target parking position Pg1, since turning is necessary, the trajectory L11 and the trajectory L12 are created as ideal trajectories. The trajectory L11 is an ideal trajectory from the start position Ps to the return position P11, and the trajectory L12 is an ideal trajectory from the return position P11 to the target parking position Pg1. The ideal trajectory is stored as a set of position information based on the start position.

  Next, an actual trajectory storage process for storing an actual parking trajectory (actual trajectory) from the time when parking by the driver is started to the time when parking is completed is performed (S3). FIG. 4 is a flowchart illustrating an example of a subroutine for the actual trajectory storage process. The time when the parking support process is started is the time when parking by the driver is started. In the actual track storage process, first, detection signals are input from the various sensors 4 (S31), and the current position (estimated position) of the vehicle 1 is estimated by the own vehicle position estimating unit 25 (S32). The estimated position is calculated as a position based on the start position Ps. Further, the estimated position includes a direction based on the start position. Then, the estimated position is stored in the storage device 8 by the actual trajectory storage unit 26 (S33). Subsequently, it is determined whether or not the parking of the car 1 has been completed (S34). Whether or not the parking has ended is determined based on, for example, whether or not the P range (parking range) has been selected by the shift operation, and the vehicle 1 is positioned within the parking frame based on the overhead image created by the overhead image creation unit 21. This may be determined based on whether or not this is recognized, or whether or not notification based on the ideal trajectory and the actual trajectory is instructed by the operation of the operating device 5 by the driver. If it is determined in step S34 that parking has not ended yet (S34: NO), the processing from step S31 to step S34 is repeated. If it is determined in step S34 that parking has ended (S34: YES), the actual trajectory storage process is ended. By the actual track storage process, a plurality of estimated positions from the start position until the parking of the vehicle 1 is completed are stored in the storage device 8 in time series order. That is, the actual trajectory is stored by the actual trajectory storage process.

  FIG. 5B is a diagram for explaining an actual trajectory from the start to the end of parking. That is, FIG. 5B is a diagram for explaining the actual trajectory stored in the storage device 8 by the actual trajectory storage process. In FIG. 5 (b), parking is started when the vehicle 1 is located at the start position Ps, as in FIG. 5 (a). In FIG. 5B, it is assumed that the parking of the car 1 is completed at the position indicated by the point Pg2. Hereinafter, the point Pg2 is referred to as “end position Pg2”. The end position Pg2 is, for example, the center position of the car 1 (the same applies to a plurality of turn-back positions P21 to P23 described later). In the present embodiment, as shown in FIG. 5 (b), the driver performs a plurality of times (three times) of turn-over from the start position Ps to the end position Pg2. In this case, the tracks L21 to L24 are stored as actual tracks. The trajectory L21 is an actual trajectory from the start position Ps to the first turn-back position P21. The trajectory L22 is an actual trajectory from the first turning position P21 to the second turning position P22. The trajectory L23 is an actual trajectory from the second turning position P22 to the third turning position P23. The trajectory L24 is an actual trajectory from the third turn-back position P23 to the end position Pg2. That is, the actual track for each turn of the vehicle 1 is stored. In the present embodiment, switching between forward and reverse movement of the vehicle 1 is referred to as “turnback”. The actual trajectory is stored as a set of position information based on the start position, like the ideal trajectory.

  Next, the comparison unit 27 reads the ideal trajectory and the actual trajectory from the storage device 8 and compares them (S4). Specifically, a comparison is performed based on a plurality of position information in the ideal trajectory and a plurality of position information in the actual trajectory, and these differences are output as comparison results to the image and sound control unit 28.

  Next, a notification process based on the ideal trajectory and the actual trajectory is performed (S5). Specifically, in the notification process, the image and sound control unit 28 superimposes the ideal trajectory (trajectory L11, L12) and the actual trajectory (trajectory L21 to L24) on the overhead view image at the start position Ps stored in the storage device 8. The supported support image is created and displayed on the display 7. The ideal trajectory can be drawn by connecting a plurality of position information stored in the storage device 8 with a line in order for each of the plurality of trajectories L11 and L12. Similarly, the actual trajectory can be drawn by sequentially connecting a plurality of pieces of position information stored in the storage device 8 for each of the plurality of trajectories L21 to L24. The ideal trajectory and the actual trajectory are not simply connected by a line, but are curves calculated by a predetermined fitting method (for example, the least square method) for each of a plurality of trajectories (trajectories L11, L12, trajectories L21 to L24). You may make it draw with. Further, based on the comparison result in step S4, the audio / video control unit 28 displays the difference between the ideal trajectory and the actual trajectory and the driving advice based on the difference on the support image and is displayed on the display 7 and from the speaker 6. Voice guidance is provided. The driving advice is information for eliminating a difference between an ideal trajectory and an actual trajectory, for example. If the difference between the ideal trajectory and the actual trajectory is extremely small, display a comment that praises the actual parking, such as `` Parking along the ideal parking trajectory '' or voice guidance. Also good.

  FIG. 6 shows an example of a support image displayed on the display screen of the display 7. The support image shown in FIG. 6 is a bird's-eye view image in which the car 1 is displayed at the approximate center of the display screen and facing upward. The ideal trajectory (tracks L11 and L12) is a dotted line, and the real trajectory (tracks L21 to L21). L24) is indicated by a solid line. In FIG. 6, the icon of the car 1 is also superimposed on the bird's-eye view image at the start position Ps, each turning position in the ideal track and the actual track, the target parking position Pg1, and the end position Pg2. In FIG. 6, the icon of the car 1 on the actual track is indicated by a solid line, and the icon of the car 1 on the ideal track is indicated by a dotted line. Note that the icon of the car 1 on the actual track and the icon of the car 1 on the ideal track are not limited thereto. For example, these may be distinguished by changing the color or changing the transparency. Further, the icon of the car 1 may be displayed only on one of the actual track and the ideal track, or the icon of the car 1 may not be displayed. As shown in FIG. 6, the support image further includes a comment C1 indicating a difference between the ideal trajectory and the actual trajectory, and a comment C2 indicating a driving advice based on the difference between the ideal trajectory and the actual trajectory. These comments C1 and C2 are superimposed on the support image and displayed on the display 7, and are also voice-guided from the speaker 6. Note that the comments C1 and C2 shown in FIG. 6 are examples, and the present invention is not limited to these. The driver can compare and confirm the ideal trajectory and the actual trajectory by looking at the support image shown in FIG.

  Each process shown in the flowcharts of FIGS. 2 to 4 is an example, and the parking support process is not limited to the above-described process.

  Next, the operation and effect of the parking assist ECU 2 according to the present embodiment will be described.

  According to the present embodiment, an image (support image) in which the ideal trajectory and the actual trajectory are superimposed and displayed on the overhead image is displayed on the display 7. Further, the comparison result between the ideal trajectory and the actual trajectory is displayed on the display 7 and voice guidance is given from the speaker 6. As a result, the driver can grasp how much his / her parking trajectory (actual trajectory) is deviated from the ideal trajectory and know how inappropriate his / her parking was. it can. Therefore, the driver can confirm how to drive in order to park along the ideal trajectory at the next parking. From the above, the parking assist ECU 2 can assist the improvement of the driver's parking skill.

  In the above embodiment, the comparison result between the ideal trajectory and the actual trajectory is displayed on the display 7 and the speaker 6 is voice-guided. However, these may not be performed. That is, only the support image may be displayed on the display 7. In this case, it is not necessary to provide the comparison unit 27. Further, the comparison result between the ideal trajectory and the actual trajectory may be displayed either on the support image and displayed on the display 7 or by the voice guidance of the speaker 6.

  In the above embodiment, as a comparison result between the ideal trajectory and the actual trajectory, both the comment C1 indicating the difference and the comment C2 of the driving advice are superimposed on the support image and displayed on the display 7, and the voice guidance is given to the speaker 6. However, only one of the comment C1 indicating the difference or the comment C2 of the driving advice may be superimposed and displayed on the support image, and may be voice-guided. In this case as well, notification may be given by either display on the display 7 or voice guidance from the speaker 6.

  In the above embodiment, the notification based on the ideal trajectory and the actual trajectory is performed after the parking is completed, but the timing at which the notification is performed is not limited to this. When parking is temporarily interrupted while the driver is parking the car 1, notification based on the ideal trajectory and the actual trajectory may be performed. For example, in the track shown in FIG. 5 (b), when the vehicle 1 is positioned at the turn-back position P22, if the driver is instructed to perform notification based on the ideal track and the actual track by operating the operation device 5, the start position The support image in which the ideal trajectory and the actual trajectory from the start position Ps to the turn-back position P22 are superimposed on the overhead view image in FIG. 5, the difference between the ideal trajectory and the actual trajectory, and driving advice may be reported. In addition, every time the vehicle position estimation unit 25 estimates the estimated position, notification based on the ideal track and the actual track may be performed. That is, the notification based on the ideal trajectory and the actual trajectory may be performed at any time while the driver is parked. In this case, the comparison unit 27 compares the estimated position estimated by the host vehicle position estimation unit 25 with the ideal trajectory, and outputs the comparison result to the image / audio control unit 28. Then, the audio / video control unit 28 may notify the comments C1, C2 and the like based on the comparison result. In the modified example, since the driver is driving (parking), only voice guidance from the speaker 6 may be performed in order to suppress gaze on the display screen.

  In the above embodiment, the bird's-eye view image at the start position is used as the bird's-eye view image that superimposes the ideal trajectory and the actual trajectory, but any bird's-eye view image from the start position Ps to the end position Pg2 may be used. Note that the bird's-eye view image may display all of the ideal trajectory and the actual trajectory to be displayed in a superimposed manner. For example, when using the bird's-eye view image when parking is finished (end position Pg2), the bird's-eye view image creation unit 21 creates the bird's-eye view image when the vehicle 1 is located at the end position Pg2 instead of the bird's-eye view image at the start position. (Overhead image at the end position Pg2) is stored in the storage device 8. Also in this modification, the driver can confirm the difference between the ideal track and the actual track.

  In the above embodiment, an image (support image) in which both the ideal trajectory and the actual trajectory are superimposed on the overhead image is displayed, but the present invention is not limited to this. For example, as shown in FIG. 7, the display screen of the display 7 is divided into two screens (for example, left and right), and an image obtained by superimposing an ideal trajectory on the overhead image is displayed on one side (left side in FIG. 7). The actual trajectory may be displayed on the other side (right side in FIG. 7). In order to display two images side by side, each image displayed on the display screen of the display 7 is reduced and displayed in the left-right direction. Also in this modification, the driver can confirm the difference between the ideal track and the actual track.

  In the above embodiment, the support image displayed on the display 7 is a still image, but may be a moving image. For example, the actual track storage unit 26 stores not only the estimated position estimated by the host vehicle position estimation unit 25 but also the overhead image at the estimated position created by the overhead view image creation unit 21 in the storage device 8 in association with the estimated position. Remember. Thereby, in the storage device 8, a plurality of estimated positions and a plurality of overhead images are associated with each other and stored in chronological order. Then, in the notification process of step S5 shown in FIG. 2, the audio / video control unit 28 reads the bird's-eye view image stored in the storage device 8, and creates an image in which the ideal trajectory is superimposed on the read bird's-eye view image. Thereafter, the created image is displayed on the display 7. This process is performed in chronological order from the start position Ps to the end position Pg2. Thus, every time an image is created, the image displayed on the display 7 is rewritten, so that the image is displayed on the display 7 as a moving image.

  FIG. 8 shows an example of the display screen of the display 7 when displaying as a moving image. FIG. 8A is an image when the parking support process is started, and shows a position at the position Ps shown in FIG. FIG. 8B is an image after the car 1 has advanced a little, and shows a position when the vehicle 1 is moving from the position Ps shown in FIG. 5B to the position P21. FIG. 8C is an image after the vehicle 1 has further advanced, and shows a position at the position P21 shown in FIG. 5B. These images are bird's-eye images displayed with the car 1 facing the top of the screen at the center of the screen. Also, an ideal trajectory (dotted line) and an actual trajectory (solid line) are superimposed on these images. Note that the actual track uses a plurality of estimated positions (position information) from the start position to the estimated position of the car 1 and connects these position information with lines, so that FIG. 8B and FIG. ) Can be drawn. Further, in FIG. 8, the comments C1 and C2 based on the comparison result by the comparison unit 27 are displayed in a comment field C0 provided in advance, instead of a balloon as shown in FIG.

  Note that the display as a moving image is an example, and the present invention is not limited to this. For example, as shown in FIG. 9, a moving image image in which the icon, the ideal trajectory, and the actual trajectory of the car 1 are superimposed and displayed on the overhead view image at the start position may be displayed. FIG. 9A is an image when parking support processing is started, as in FIG. 8A, and shows a position at the position Ps shown in FIG. 5B. FIG. 9B is an image after the car 1 has advanced a little like FIG. 8B, and shows the position when the position Ps shown in FIG. 5B is moving from the position P21. ing. FIG. 9C is an image after the vehicle 1 has further advanced, as in FIG. 8C, and shows a position at the position P21 shown in FIG. 5B. For example, the ideal trajectory stored in the storage device 8 is superimposed and displayed on the overhead image at the start position with a dotted line. Further, using a plurality of estimated positions similarly stored in the storage device 8, a solid line connecting position information from the start position to each estimated position is superimposed as an actual track, and the icon of the car 1 is superimposed on the estimated position. Let By creating this image while updating the estimated position from the start position Ps to the end position Pg2 and sequentially displaying it on the display 7, it is possible to display a moving image as shown in FIG. Note that the method for creating a moving image is not limited.

  In the above embodiment, the case where the estimated position is stored in the storage device 8 by the actual trajectory storage unit 26 has been described, but the present invention is not limited to this. For example, instead of the estimated position, various detection values (vehicle speed, steering angle, shift position, brake pedal operation amount, accelerator pedal operation amount, etc.) input from various sensors 4 may be stored as a driving log. . In this case, the comparison unit 27 may estimate the estimated position from the operation log and compare the actual trajectory and the ideal trajectory based on the estimated position. Further, the image / audio control unit 28 may estimate the estimated position from the operation log, create an actual trajectory based on the estimated position, and notify it. Furthermore, instead of a set of position information based on the start position as an ideal trajectory by the trajectory creation unit 24, travel control information for performing ideal parking (for example, vehicle speed, steering angle, brake control amount, accelerator) When the operation amount or the like is generated, the comparison unit 27 may compare the ideal trajectory with the actual trajectory by comparing the travel control information with the operation log. Then, based on the comparison result between the traveling control information and the driving log by the comparison unit 27, the image / audio control unit 28 notifies the difference of the switching position, the steering timing, the steering amount, the vehicle speed, and the driving advice. Therefore, even in such a case, the image / audio control unit 28 can perform notification based on the ideal trajectory and the actual trajectory. In addition, in the said modification, although the driving log was memorize | stored in the memory | storage device 8 instead of the estimated position by the real track memory | storage part 26, both of these may be memorize | stored. In addition, the trajectory creation unit 24 stores the travel control information in the storage device 8 instead of the set of position information based on the start position, but both of them may be stored.

  The parking assistance apparatus according to the present invention is not limited to the above-described embodiment. The specific configuration of each part of the parking assistance apparatus according to the present invention can be varied in design in various ways.

1: Car 2: Parking assistance ECU
21: bird's-eye view image creation unit 22: parking frame detection unit 23: target parking position setting unit 24: track creation unit 25: own vehicle position estimation unit 26: actual track storage unit 27: comparison unit 28: image audio control unit 31: right Side camera 32: Left side camera 33: Front camera 34: Rear camera 4: Various sensors 5: Operating device 6: Speaker 7: Display 8: Storage device

Claims (1)

Target parking position setting means for setting a target parking position for parking the car;
A trajectory creating means for creating an ideal parking trajectory from the position of the vehicle to the target parking position;
Detecting means for detecting an actual parking trajectory of the vehicle;
A notification means for performing notification based on the actual parking trajectory and the ideal parking trajectory;
A parking assistance device comprising:

Images